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An Efficient Algebraic Solution for Moving Source Localization from Quadruple Hybrid Measurements

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Chinese Journal of Electronics 2022年第2期31卷 255-265页

作者： DING Ting ZHAO Yongsheng ZHAO Yongjun Henan High-Speed Railway Operation and Technological Research Center PLA Strategic Support Force Information Engineering University

This paper deals with the 3-D moving source localization using time difference of arrival(TDOA), frequency difference of arrival(FDOA), angle of arrival(AOA) and AOA rate measurements, gathered from a set of spatially distributed receivers. The TDOA,FDOA, AOA and AOA rate measurement equations were firstly established according to the space geometric relationship of the source relative to the receivers. Then an efficient closed-form algorithm for source position and velocity estimation from the quadruple hybrid measurements was proposed. The proposed algorithm converts the nonlinear measurement equations into a linear set of equations, which can then be used to estimate the source position and velocity applying weighted least square(WLS) minimization. In contrast to existing two-stage WLS algorithms, the proposed algorithm does not introduce any nuisance parameters and requires merely onestage, which enables for source localization with the fewest receivers necessary. Theoretical accuracy analysis shows that the proposed algorithm reaches the CramerRao lower bound, and simulation studies corroborate the efficiency and superiority of the proposed algorithm over other algorithms.

关键词： Source localization time difference of arrival Frequency difference of arrival Angle of arrival Angle rate

Performance Evaluation of Three-Dimensional UWB Real-time Locating Auto-Positioning System for Fire Rescue

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Intelligent Automation & Soft Computing 2023年第9期37卷 3039-3058页

作者： Hang Yang Xunbo Li Witold Pedrycz School of Mechanical and Electrical Engineering University of Electronic Science and Technology of ChinaChengdu611731China Department of Electrical and Computer Engineering University of AlbertaEdmontonT6G 1H9Canada School of Information Engineering Southwest University of Science and TechnologyMianyang621000China

Fire rescue challenges and solutions have evolved from straightfor-ward plane rescue to encompass 3D space due to the rise of high-rise city buildings.Hence,this study facilitates a system with quick and simplified on-site launching and generates real-time location data,enabling fire rescuers to arrive at the intended spot faster and correctly for effective and precise rescue.Auto-positioning with step-by-step instructions is proposed when launching the locating system,while no extra measuring instrument like Total Station(TS)is needed.Real-time location tracking is provided via a 3D space real-time locating system(RTLS)constructed using Ultra-wide Bandwidth technology(UWB),which requires electromagnetic waves to pass through concrete walls.A hybrid weighted least squares with a time difference of arrival(WLS/TDOA)positioning method is proposed to address real path-tracking issues in 3D space and to meet RTLS requirements for quick computing in real-world applications.The 3D WLS/TDOA algorithm is theoretically constructed with the Cramer-Rao lower bound(CRLB).The computing complexity is reduced to the lower bound for embedded hardware to directly compute the time differential of the arriving signals using the time-to-digital converter(TDC).The results of the experiments show that the errors are controlled when the positioning algorithm is applied in various complicated situations to fulfill the requirements of engineering applications.The statistical analysis of the data reveals that the proposed UWB RTLS auto-positioning system can track target tags with an accuracy of 0.20 m.

关键词： 3D space positioning ultra-wideband real-time locating system time difference of arrival Cramer-Rao lower bound fire rescue

Joint TDOA, FDOA and differential Doppler rate estimation： Method and its performance analysis

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Chinese Journal of Aeronautics 2018年第1期31卷 137-147页

作者： Dexiu HU Zhen HUANG Shangyu ZHANG Jianhua LU Space Technology Research Center Tsinghua University Beijing 100084 China Zhengzhou Information Technology Institute Zhengzhou 450002 China

Considering the estimation accuracy reduction of Frequency difference of arrival （FDOA） caused by relative Doppler companding, a joint time difference of arrival （TDOA）, FDOA and differential Doppler rate estimation method is proposed and its Cramer-Rao low bound is derived in this paper. Firstly, second-order ambiguity function is utilized to reduce the dimensionality and estimate initial TDOA and differential Doppler rate. Secondly, the TDOA estimation is updated and FDOA is obtained using cross ambiguity function, in which relative Doppler com- panding is compensated by the existing differential Doppler rate. Thirdly, differential Doppler rate estimation is updated using cross estimator. Theoretical analysis on estimation variance and Cramer-Rao low bound shows that the final estimation of TDOA, FDOA and differential Doppler rate performs well at both low and high signal-noise ratio, although the initial estimation accuracy of TDOA and differential Doppler rate is relatively poor under low signal-noise ratio conditions. Simulation results finally verify the theoretical analysis and show that the proposed method can overcome relative Doppler companding problem and performs well for all TDOA, FDOA and differential Doppler rate estimation.

关键词： Differential Doppler rate Frequency difference of arrival Passive location Performance analysis time difference of arrival

A direct position determination method with combined TDOA and FDOA based on particle filter

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Chinese Journal of Aeronautics 2018年第1期31卷 161-168页

作者： Zhiyu LU Bin BA Jianhui WANG Wenchao LI Daming WANG China National Digital Switching System Engineering & Technological R&D Cente Zhengzhou 450000 China Jiuquan Satellite Launch Center Jiuquan 735000 China

The localization of a stationary transmitter using moving receivers is considered. The original Direct Position Determination （DPD） methods, with combined time difference of arrival （TDOA） and Frequency difference of arrival （FDOA）, do not perform well under low Signal-to-Noise Ratio （SNR）, and worse still, the computation cost is difficult to accept when the computational capabilities are limited. To get better positioning performance, we present a new DPD algorithm that proves to be more computationally efficient and more precise for weak signals than the conventional approach. The algorithm partitions the signal received with the same receiver into multiple non-overlapping short-time signal segments, and then uses the TDOA, the FDOA and the coherency among the short-time signals to locate the target. The fast maximum likelihood estimation, one iterative method based on particle filter, is designed to solve the problem of high computation load. A secondary but important result is a derivation of closed-form expressions of the Cramer-Rao Lower Bound （CRLB）. The simulation results show that the algorithm proposed in this paper outperforms the traditional DPD algorithms with more accurate results and higher computational efficiency, and especially at low SNR, it is more close to the CRLB.

关键词： Direct position determination Cramer-Rao lower bound Frequency difference of arrival time difference of arrival Particle filter

Accurate single-observer passive coherent location estimation based on TDOA and DOA

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Chinese Journal of Aeronautics 2014年第4期27卷 913-923页

作者： Li Jing Zhao Yongjun Li Donghai Zhengzhou Information Science and Technology Institute Huanghe Science and Technology College

This paper investigates the problem of target position estimation with a single-observer passive coherent location（PCL） system. An approach that combines angle with time difference of arrival（ATDOA） is used to estimate the location of a target. Compared with the TDOA-only method which needs two steps, the proposed method estimates the target position more directly. The constrained total least squares（CTLS） technique is applied in this approach. It achieves the Cramer–Rao lower bound（CRLB） when the parameter measurements are subject to small Gaussian-distributed errors. Performance analysis and the CRLB of this approach are also studied. Theory verifies that the ATDOA method gets a lower CRLB than the TDOA-only method with the same TDOA measuring error. It can also be seen that the position of the target affects estimating precision.At the same time, the locations of transmitters affect the precision and its gradient direction.Compared with the TDOA, the ATDOA method can obtain more precise target position estimation.Furthermore, the proposed method accomplishes target position estimation with a single transmitter,while the TDOA-only method needs at least four transmitters to get the target position. Furthermore,the transmitters＇ position errors also affect precision of estimation regularly.

关键词： Constrained total leastsquares Cramer-Rao bounds Direction of arrival Passive coherent location time difference of arrival

Passive Localization of Signal Source Based on UAVs in Complex Environment

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China Communications 2020年第2期17卷 107-116页

作者： Pengwu Wan Qiongdan Huang Guangyue Lu Jin Wang Qianli Yan Yufei Chen XI’AN University of Posts and Telecommunications

For the influence caused by multipath fading and non-line-of-sight(NLOS)transmission,it is challenging to accurately localize a moving signal source in complex environment by using the wireless sensor network(WSN)on the ground.In this paper,we establish a special WSN in the sky to address this challenge,where each sensor is loaded on an unmanned aerial vehicle(UAV)and the operation center of all the UAVs is fixed on the ground.Based on the analyzing of the optimal distribution and the position error calibration of all the sensors,we formulate the localization scheme to estimate the position of the target source,which combines the time difference of arrival(TDOA)method and the frequency difference of arrival(FDOA)method.Then by employing the semidefinite programming approach,we accurately obtain the position and velocity of the signal source.In the simulation,the validity of the proposed method is verified through the performance comparison.

关键词： passive localization time difference of arrival wireless sensor network unmanned aerial vehicle semidefinite programming

A novel bearing-assisted TDOA-GROA approach for passive source localization

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International Journal of Intelligent Computing and Cybernetics 2018年第1期11卷 2-19页

作者： Ji-An Luo Zhi-Wen Tan Dong-Liang Peng Key Lab for IOT and Information Fusion Technology of Zhejiang Hangzhou Dianzi UniversityHangzhouChina

Purpose–The passive source localization(PSL)problem using angles of arrival(AOA),time differences of arrival(TDOA)or gain ratios of arrival(GROA)is generally nonlinear and nontrival.In this research,the purpose of this paper is to design an accurate hybrid source localization approach to solve the PSL problem.The inspiration is drawn from the fact that the bearings,TDOAs and GROAs are complementary in terms of their geometry properties.Design/methodology/approach–The maximum-likelihood(ML)method is reexamined by using hybrid measurements.Being assisted by the bearings,a new hybrid weighted least-squares(WLS)method is then proposed by jointly utilizing the bearing,TDOA and GROA measurements.Findings–Theoretical performance analysis illustrates that the mean-square error of the ML or WLS method can attain the Cramér-Rao lower bound for Gaussian noiseover small error region.However,the WLS method has much lower computational complexity than the ML algorithm.Compared with the AOA-only,TDOA-only,AOA-TDOA,TDOA-GROA methods,the localization accuracy can be greatly improved by combining the AOAs,TDOAs and GROAs,especially for some specific geometries.Originality/value–A novel bearing-assisted TDOA-GROA method is proposed for source localization,and a new hybrid WLS estimator is presented inspired from the fact that the bearings,TDOAs and GROAs are complementary in terms of their geometry properties.

关键词： Bearing Gain ratio of arrival Hybrid measurements Passive source localization time difference of arrival

Non-Linear Localization Algorithm Based on Newton Iterations

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Journal on Internet of Things 2020年第4期2卷 129-134页

作者： Jianfeng Lu Guirong Fei Institute of Information Technology Taizhou Polytechnic CollegeTaizhou225300China

In order to improve the performance of time difference of arrival(TDOA)localization,a nonlinear least squares algorithm is proposed in this paper.Firstly,based on the criterion of the minimized sum of square error of time difference of arrival,the location estimation is expressed as an optimal problem of a non-linear programming.Then,an initial point is obtained using the semi-definite programming.And finally,the location is extracted from the local optimal solution acquired by Newton iterations.Simulation results show that when the number of anchor nodes is large,the performance of the proposed algorithm will be significantly better than that of semi-definite programming approach with the increase of measurement noise.

关键词： Wireless localization non-linear programming time difference of arrival newton Iteration

Passive localization based on multi-sensor GLMB filter Using a TDOA Approach

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Passive localization based on multi-sensor GLMB filter Using...